Optimum time-energy-jerk trajectory planning for serial robotic manipulators by reparameterized quintic NURBS curves

This paper deals with the trajectory planning for serial robotic manipulators passing through key points by minimizing execution time, energy consumption and joint jerks. Quintic NURBS curves are adopted to fit the trajectory, of which the trajectory is reparameterized with respect to time for generation of geometric path and motion laws, aiming at continuity of the robot velocity, acceleration and jerk. A trajectory planning approach for optimum robot performance is proposed by solving a multi-objective optimization problem to attain optimal curve parameters and distributed execution time along curve segments simultaneously. The proposed technique of trajectory planning is numerically illustrated with a robotic arm and evaluated by experimental measurements. The comparison of total execution time and joint dynamics with/without variables optimization shows the effectiveness of the proposed approach.